JP7410976B2 - remote control device - Google Patents

Description

The present invention relates to a remote control device. In particular, the present invention relates to the structure of a remote control device that can operate a control lever installed on heavy machinery or the like from a remote location.

Generally, in heavy machinery such as a power shovel, a driver sits in a driver's seat and operates a control lever to carry out work such as excavation and transportation. However, in places where it is difficult for drivers to enter, such as in dangerous areas during disasters, there is a need for a remote control device that can operate the control lever from a remote location.

Conventional remote control devices require the operation mechanism to be manufactured separately as a special machine for remote control, or existing heavy machinery must be modified to be suitable for remote control, but there is no need to modify existing heavy machinery, and existing A remote control device that can remotely control a control lever simply by installing it on a heavy machine has been disclosed (for example, see Patent Document 1).

Utility Model Publication No. 61-168784

The remote control device according to Patent Document 1 includes a remote control device main body, a receiver, and a transmitter. The remote control device body can surround a control lever that can be tilted in the x-axis direction or the y-axis direction. Further, the main body of the remote control device includes a pair of x-axis guides and a pair of y-axis guides, each of which is driven by a separate motor. These motor signal lines are electrically connected to the receiver.

The remote control device according to Patent Document 1 can drive an x-axis guide motor and a y-axis guide motor, respectively, using a radio signal for operation transmitted from a transmitter via a receiver. As a result, the remote control device according to Patent Document 1 is capable of operating a control lever from a remote location simply by installing the remote control device main body in an existing heavy machine.

However, in the remote control device disclosed in Patent Document 1, the operating lever is surrounded by a rectangular frame. The frame also includes a conversion mechanism, such as a rack and pinion mechanism, that converts the rotational movement of the motor into linear movement of the x-axis guide or the y-axis guide.

As described above, the configuration of the remote control device according to the prior art is large-scale and complicated. Therefore, there is a need for a remote control device with a simple configuration. The above can be said to be the problem of the present invention.

The present invention has been made in view of such problems, and an object of the present invention is to provide a remote control device that operates a control lever from a remote location and has a simple configuration.

The present inventor constructed a remote control device with two motors and two rocking plates installed on a base plate, and attached a holding block that can hold the operating lever to either one rocking plate or both rocking plates with a ball joint. We thought that by connecting the remote control devices, we could simplify the configuration while fulfilling the functions of the remote control device, and based on this idea, we came up with the following new remote control device.

(1) The remote control device according to the present invention is a remote control device for operating a control lever that can be tilted at least in the x-axis direction or the y-axis direction from a remote location, and includes a base plate that can be detachably fixed around the control lever. , a holding block that can hold the operating lever so as to be freely introduced from the outer circumferential direction, and the base plate includes a first motor that tilts the operating lever in the x-axis direction, and a first motor that tilts the operating lever in the y-axis direction. 2 motors, a first rocking plate that is swingable in the x-axis direction, and a second rocking plate that is swingable in the y-axis direction, and the holding block has the first rocking plate or It has a ball joint connected to one or both of the second rocking plates.

(2) The ball joint includes a ball stud with a spherical portion formed in the head and a socket rotatably connected to the spherical portion, and the ball stud is tiltable in multiple directions with respect to the socket. It is preferable that they are connected in such a way that they are difficult to separate.

(3) The first rocking plate has its base end rotatably connected to the base plate, and the second rocking plate has its base end rotatably connected to the first rocking plate. The ball joint may connect the holding block and the second swing plate in a flexible manner.

(4) A link having a rotating arm whose base end is directly connected to the output shaft of the first motor, spherical sliding bearings at both ends, and connecting the tip of the rotating arm and the first rocking plate. The device may further include a rod, and a linear motion guide that connects the second rocking plate and the ball joint and can relatively move the holding block along the direction in which the operating lever extends.

(5) The first swing plate and the second swing plate may share the holding block at their tip ends via the ball joint.

(6) Further comprising a linear motion guide that connects the first rocking plate and the second rocking plate to the ball joint and can move the holding block relatively along the direction in which the operating lever extends. Preferably.

(7) The device further includes a turntable on which the first rocking plate and the second rocking plate are installed and rotatably connected to the base plate, and a third motor that rotates the turntable. Good too.

(8) The remote control device according to the present invention is a remote control device for operating a control lever that can be tilted at least in the x-axis direction or the y-axis direction from a remote location, and includes a base plate that can be detachably fixed around the control lever. , a holding block that can hold the operating lever so as to be freely introduced from the outer circumferential direction, and the base plate includes a first motor that tilts the operating lever in the x-axis direction, and a first motor that tilts the operating lever in the y-axis direction. 2 motors, a first rocking plate that is swingable in the x-axis direction, and a second rocking plate that is swingable in the y-axis direction, and the holding block has the first rocking plate or It has a universal joint connected to either one or both of the second rocking plates.

(9) The universal joint has a mounting seat with a center pin protruding from one surface, and one end rotatably connected to the center pin, and the universal joint extends in a direction substantially perpendicular to the direction in which the center pin extends. a first joint member having a fork member whose other end supported a connecting pin; and a second joint member whose one end was refractably connected to the connecting pin; It is preferable that the second joint member is connected so as to be tiltable in multiple directions.

(10) A linear rail fixed to the holding block along the direction in which the operating lever extends, and a moving block slidably connected to the linear rail and fixed to the other end of the second joint member. It is preferable that the device further includes the following.

(11) The first rocking plate has its base end rotatably connected to the base plate, and the second rocking plate has its base end rotatably connected to the first rocking plate. The universal joint may connect the holding block and the second rocking plate in a flexible manner.

(12) The first rocking plate and the second rocking plate may be connected via the universal joint to a linear motion guide composed of the straight rail and the moving block, even if the holding block is shared by the linear motion guide. good.

(13) The device further includes a turntable on which the first rocking plate and the second rocking plate are installed and rotatably connected to the base plate, and a third motor that rotates the turntable. Good too.

The remote control device according to the present invention comprises two motors and two rocking plates installed on a base plate, and a holding block capable of holding an operating lever is attached to either one of the rocking plates or both rocking plates. By connecting the remote controller with a ball joint, the configuration can be simplified while still fulfilling the functions of a remote control device.

1 is a perspective view showing the configuration of a remote control device according to a first embodiment of the present invention. FIG. 1 is a front view showing the configuration of a remote control device according to a first embodiment. FIG. 1 is a plan view showing the configuration of a remote control device according to a first embodiment. FIG. 2 is a rear view showing the configuration of the remote control device according to the first embodiment. FIG. 2 is a right side view showing the configuration of the remote control device according to the first embodiment. FIG. 2 is a left side view showing the configuration of the remote control device according to the first embodiment. FIG. 2 is a perspective exploded view showing the configuration of main parts of the remote control device according to the first embodiment, and is a state diagram of the remote control device as seen from the front and left side. FIG. 2 is a perspective exploded view showing the configuration of essential parts of the remote control device according to the first embodiment, and is a state diagram of the remote control device viewed from the back and left side. 9(A) is a plan view showing the configuration of a remote control device according to an embodiment, FIG. 9(A) is a state diagram in which the first rocking plate is tilted in the x-axis direction, and FIG. 9(B) is a diagram showing the state in which the first rocking plate is tilted in the x-axis direction. FIG. 3 is a diagram showing a state in which the device is further tilted in the x-axis direction. FIG. 2 is a perspective view showing the configuration of a remote control device according to a second embodiment of the present invention. FIG. 3 is a front view showing the configuration of a remote control device according to a second embodiment. FIG. 7 is a plan view showing the configuration of a remote control device according to a second embodiment. FIG. 7 is a right side view showing the configuration of a remote control device according to a second embodiment. It is a perspective view showing the composition of the remote control device by a 2nd embodiment, and is a state view of the remote control device viewed from the back and the left side. FIG. 7 is a perspective exploded view showing the configuration of the main parts of the remote control device according to the second embodiment, and is a state diagram of the remote control device viewed from the front and right side. FIG. 3 is a perspective view showing the configuration of a remote control device according to a third embodiment of the present invention. FIG. 7 is a front view showing the configuration of a remote control device according to a third embodiment. FIG. 7 is a plan view showing the configuration of a remote control device according to a third embodiment. FIG. 7 is a perspective exploded view showing the configuration of main parts of a remote control device according to a third embodiment, and is a state diagram when the remote control device is viewed from the front and left side. 20(A) is a plan view showing the configuration of the remote control device according to the third embodiment, FIG. 20(A) is a state diagram when the first rocking plate is tilted in the x-axis direction, and FIG. It is a state diagram in which the plate is further tilted in the x-axis direction. FIG. 3 is a perspective view showing the configuration of a remote control device according to a fourth embodiment of the present invention. FIG. 7 is a front view showing the configuration of a remote control device according to a fourth embodiment. FIG. 7 is a plan view showing the configuration of a remote control device according to a fourth embodiment.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[First embodiment]
(Configuration of remote control device)
First, the overall configuration of a remote control device according to a first embodiment of the present invention will be described.

(overall structure)
Referring to FIGS. 1 to 9, a remote control device (hereinafter abbreviated as a control device) 10 according to a first embodiment of the present invention can remotely control a control lever Lc disposed in a driver's seat of heavy machinery or the like. The operating lever Lc can be tilted at least in the x-axis direction or the y-axis direction (see FIG. 1).

Referring to FIGS. 1 to 9, the control device 10 includes a base plate 1Pb and a holding block 1Bk. The base plate 1Pb can be detachably fixed around the operating lever Lc. The holding block 1Bk can hold the operating lever Lc so as to be freely introduced from the outer circumferential direction.

Referring to FIGS. 1 to 9, the base plate 1Pb includes a first motor 1m and a second motor 2m. The first motor 1m can tilt the operating lever Lc in the x-axis direction. The second motor 2m can tilt the operating lever Lc in the y-axis direction.

Further, referring to FIGS. 1 to 9, the base plate 1Pb includes a first swing plate 1r and a second swing plate 2r. The base end of the first rocking plate 1r is rotatably connected to the base plate 1Pb by a hinge member 1h (see FIG. 1 or FIG. 5). Thereby, the first swing plate 1r can swing in the x-axis direction.

Referring to FIGS. 1 to 4, the second motor 2m is fixed to the first swing plate 1r. The base end of the second swing plate 2r is directly connected to the output shaft of the second motor 2m. By driving the second motor 2m, the second rocking plate 2r can be rocked in the y-axis direction.

Referring to FIG. 1 or 7, the holding block 1Bk includes a ball joint 1Jb. Referring to FIG. 7, the ball joint 1Jb is composed of a ball stud 1Sb and a socket 1s. The ball stud 1Sb has a spherical portion 11b formed in its head. Further, the ball stud 1Sb has a male threaded portion 11s formed in the shaft portion.

Referring to FIG. 7, the socket 1s is rotatably connected to the spherical portion 11b. The ball stud 1Sb can be tilted in multiple directions with respect to the socket 1s, and is connected to the socket 1s so that it is difficult to separate.

Referring to FIGS. 1 to 9, the control device 10 further includes a band-shaped rotating arm 3, a link rod 4, and a linear motion guide (hereinafter referred to as LM guide) 5. The rotating arm 3 has its base end directly connected to the output shaft of the first motor 1m. By driving the first motor 1m, the rotating arm 3 can be rotated on the xy plane.

Referring to FIGS. 1 to 6 or 8 and 9, the link rod 4 has a pair of spherical slide bearings 4b and 4b at both ends. One spherical slide bearing 4b is connected to the tip of the rotating arm 3. The other spherical sliding bearing 4b is connected to the upper surface of the first rocking plate 1r. In this way, the link rod 4 connects the tip of the rotating arm 3 and the first swing plate 1r.

Referring to FIG. 7, the LM guide 5 is composed of a straight rail 51 and a moving block 52. The straight rail 51 is fixed to the second swing plate 2r along the longitudinal direction of the second swing plate 2r. The moving block 52 is slidably connected to the linear rail 51. With respect to the linear rail 51, the moving block 52 is only allowed to move linearly.

Referring to FIG. 7, a cylindrical holding member 54 is fixed to the moving block 52 via a plate member 53. The holding member 54 holds the socket 1s so that the socket 1s is difficult to move in the thrust direction. On the other hand, the ball stud 1Sb has its male threaded portion 11s fastened to the holding block 1Bk using a nut member (not shown).

In this way, referring to FIG. 1 or FIG. 7, the LM guide 5 connects the second swing plate 2r and the ball joint 1Jb. Further, the LM guide 5 can move the holding block 1Bk along the direction in which the operating lever Lc extends. Note that a cover 2c that covers the LM guide 5 and the holding member 54 is attached to the second swing plate 2r.

Referring to FIGS. 1 to 9, the operating device 10 according to the embodiment includes two first motors 1m and a second motor 2m installed on a base plate 1Pb, two first swing plates 1r and a second swing plate 2r. By connecting a holding block 1Bk capable of holding the operating lever Lc to the second rocking plate 2r with a ball joint 1Jb, the configuration can be simplified while satisfying the functions of a remote control device.

(Configuration of holding block)
Next, the configuration of the holding block 1Bk according to the embodiment will be described. Referring to FIG. 7, the holding block 1Bk has a notch 1k that is partially cut off from the outer periphery. The operating lever Lc can be introduced into the holding block 1Bk from the base end side of the operating lever Lc, which has a small external shape, through the notch 1k. By moving the holding block 1Bk to the grip Gp side of the operating lever Lc, which has a large external shape, with respect to the operating lever Lc, the operating lever Lc can be held without much clearance. It is preferable to prepare a plurality of types of holding blocks so as to match the shape of the corresponding operating lever Lc. For the holding block 1Bk, a one-touch type clamp can be used instead of a screw type.

Referring to FIGS. 1 to 3, the holding block 1Bk includes three setscrews 1Ss with knobs. Referring to FIG. 7, the holding block 1Bk has a plurality of internally threaded portions 11m extending from its outer periphery to the inside. The holding block 1Bk can be fixed to the operating lever Lc by screwing the set screw 1Ss with a knob into the female threaded portion 11m. For the holding block 1Bk, a one-touch type clamp can be used instead of a screw type.

(Configuration of first motor)
Next, the configuration of the first motor 1m according to the embodiment will be described. Referring to FIGS. 1 to 3, the base plate 1Pb has a motor storage box 1Bm installed therein. The main body of the first motor 1m is housed in a motor storage box 1Bm. Further, the flange portion of the first motor 1m is fixed to the upper surface of the motor housing box 1Bm. The base end side of the rotating arm 3 can be detachably fixed to the disk portion 11d provided integrally with the output shaft of the first motor 1m (see FIG. 8).

Referring to FIGS. 1 to 9, it is preferable that the first motor 1m is a servo motor whose output shaft rotation angle can be controlled by an electrical signal. The first motor 1m houses, for example, a control board, a motor, and a gear mechanism therein. The first motor 1m can be controllably driven by transmitting a control signal from an external transmitter to a receiver (not shown) electrically connected to the first motor 1m.

Referring to FIGS. 1 to 9, when the first motor 1m is driven, the rotation of the rotating arm 3 fixed to the output shaft of the first motor 1m is transmitted to the first swing plate 1r via the link rod 4. By doing so, the first swing plate 1r can swing in the x-axis direction.

(Configuration of second motor)
Next, the configuration of the second motor 2m according to the embodiment will be explained. Referring to FIG. 1, FIG. 3, and FIG. 8, the flange portion of the second motor 2m is fixed to the first swing plate 1r. The base end side of the second rocking plate 2r can be detachably fixed to the disk portion 21d provided integrally with the output shaft of the second motor 2m (see FIG. 8).

In addition, when FIG. 1, FIG. 3, and FIG. 8 are referred, the 1st motor 1m and the 2nd motor 2m are the same thing, but for convenience of explanation, the code|symbol was changed and they were distinguished.

Referring to FIG. 1, FIG. 3, and FIG. 8, the second motor 2m can be controlled by transmitting a control signal from an external transmitter to a receiver (not shown) electrically connected to the second motor 2m. Can be driven. When the second motor 2m is driven, the second rocking plate 2r can be directly rocked in the y-axis direction.

(Effect of remote control device)
Next, the operation and effects of the pilot device 10 will be explained while explaining the operation of the pilot device 10 according to the embodiment.

Referring to FIGS. 1 to 9, first, the control device 10 is installed in a driver's seat of a heavy machine or the like. The base plate 1Pb is fixed to the driver's seat using bolt members (not shown) fixed around the operating lever Lc.

Next, referring to FIG. 7, the operating lever Lc is introduced into the holding block 1Bk from the base end side of the operating lever Lc through the notch 1k. Next, the operating lever Lc can be held by moving the holding block 1Bk toward the grip Gp side of the operating lever Lc.

Next, referring to FIG. 7, a set screw 1Ss with a knob is screwed into the female threaded portion 11m to fix the holding block 1Bk to the operating lever Lc. This completes the installation of the control device 10.

Referring to FIGS. 1 to 9, the first motor 1m can be driven from a receiver (not shown) by transmitting a control signal from an external transmitter (not shown). The rotation of the output shaft of the first motor 1m is as follows: rotating arm 3 → link rod 4 → first swing plate 1r → output shaft of second motor 2m → second swing plate 2r → LM guide 5 → ball joint 1Jb. It is transmitted to the holding block 1Bk via the path. This allows the operating lever Lc to be tilted in the x-axis direction (see FIG. 1).

1 to 6 or 8 and 9, by connecting the tip of the rotating arm 3 and the link rod 4 with one spherical slide bearing 4b, the tip of the rotating arm 3 can move in an arc. can be smoothly converted into linear motion of the link rod 4. Furthermore, by connecting the tip of the first rocking plate 1r and the link rod 4 with the other spherical sliding bearing 4b, the linear movement of the link rod 4 can be smoothly converted into the circular arc movement of the tip of the first rocking plate 1r. Can be converted.

Referring to FIGS. 1 to 9, by connecting the holding block 1Bk and the first swing plate 1r with a ball joint 1Jb via the second swing plate 2r, the arcuate motion of the first swing plate 1r is controlled. The accompanying displacement in the direction in which the operating lever Lc extends can be tolerated by the ball joint 1Jb. Thereby, the arc movement of the first rocking plate 1r can be smoothly converted into a tilting movement of the control lever Lc in the x-axis direction.

Referring to FIGS. 1 to 9, the second motor 2m can be driven from a receiver (not shown) by transmitting a control signal from an external transmitter (not shown). The rotation of the output shaft of the second motor 2m is transmitted to the holding block 1Bk via a path from the LM guide 5 to the ball joint 1Jb. This allows the operating lever Lc to be tilted in the y-axis direction (see FIG. 1).

Referring to FIGS. 1 to 9, by connecting the holding block 1Bk and the second swing plate 2r with a ball joint 1Jb, the displacement in the direction in which the operating lever Lc is extended due to the arc movement of the second swing plate 2r can be tolerated with a ball joint of 1 Jb. Thereby, the arc movement of the second rocking plate 2r can be smoothly converted into a tilting movement of the control lever Lc in the y-axis direction. Furthermore, by connecting the ball joint 1Jb and the second swing plate 2r with the LM guide 5, displacement in the direction in which the operating lever Lc extends due to the arc movement of the second swing plate 2r can be further tolerated.

Referring to FIGS. 1 to 9, the operating device 10 according to the embodiment includes two first motors 1m and a second motor 2m installed on a base plate 1Pb, two first swing plates 1r and a second swing plate 2r. By connecting a holding block 1Bk capable of holding the operating lever Lc to the second rocking plate 2r with a ball joint 1Jb, the configuration can be simplified while satisfying the functions of a remote control device.

[Second embodiment]
(Configuration of remote control device)
Next, the configuration of a remote control device according to a second embodiment of the present invention will be described.

Referring to FIGS. 10 to 15, a remote control device (hereinafter abbreviated as a control device) 20 according to a second embodiment of the present invention can remotely control a control lever Lc disposed in a driver's seat of heavy machinery or the like. The operating lever Lc can be tilted at least in the x-axis direction or the y-axis direction (see FIG. 10).

Referring to FIGS. 10 to 15, the control device 20 includes a base plate 2Pb and a holding block 2Bk. The base plate 2Pb can be detachably fixed around the operating lever Lc. The holding block 2Bk can hold the operating lever Lc so as to be freely introduced from the outer circumferential direction.

Referring to FIGS. 10 to 15, the base plate 2Pb includes a first motor 3m and a second motor 4m. The first motor 3m can tilt the operating lever Lc in the x-axis direction. The second motor 4m can tilt the operating lever Lc in the y-axis direction.

Further, referring to FIGS. 10 to 15, the base plate 2Pb includes a first swing plate 3r and a second swing plate 4r.

Referring to FIGS. 10 to 15, the control device 20 further includes two LM guides 5, a disc-shaped turntable 6, and a third motor 5m. The turntable 6 has a first swing plate 3r and a second swing plate 4r installed on the top surface. Further, the turntable 6 is rotatably connected to the base plate 2Pb. The third motor 5m can rotate the turntable 6.

Referring to FIGS. 10 to 15, the base end of the first swing plate 3r is rotatably connected to the turntable 6 via the swing bracket Br. The base end of the second swing plate 4r is rotatably connected to the turntable 6 via the swing bracket Br. Note that although the first rocking plate 3r and the second rocking plate 4r are the same, they are distinguished by different symbols for convenience of explanation.

Referring to FIGS. 10 to 15, one swing bracket Br and the other swing bracket Br are arranged substantially orthogonally. One swing bracket Br fixes the second motor 4m. The output shaft of the second motor 4m is directly connected to the base end of the first swing plate 3r. When the second motor 4m is driven, the first rocking plate 3r can be rocked in the y-axis direction.

On the other hand, referring to FIGS. 10 to 15, the other swing bracket Br fixes the first motor 3m. The output shaft of the first motor 3m is directly connected to the base end of the second swing plate 4r. When the first motor 3m is driven, the second rocking plate 4r can be rocked in the x-axis direction.

Referring to FIGS. 10 to 15, the first swing plate 3r and the second swing plate 4r share a holding block 2Bk at their tips via a ball joint 1Jb. Thereby, when the first motor 3m is driven, the second swing plate 4r can tilt the operating lever Lc in the x-axis direction via the holding block 2Bk.

On the other hand, referring to FIGS. 10 to 15, when the second motor 4m is driven, the first swing plate 3r can tilt the operating lever Lc in the y-axis direction via the holding block 2Bk.

Referring to FIG. 15, the LM guide 5 is composed of a straight rail 51 and a moving block 52. One straight rail 51 is fixed to the first swing plate 3r along the longitudinal direction of the first swing plate 3r (see FIG. 10). The other straight rail 51 is fixed to the second swing plate 4r along the longitudinal direction of the second swing plate 4r (see FIG. 10). The moving block 52 is slidably connected to the linear rail 51. With respect to the linear rail 51, the moving block 52 is only allowed to move linearly.

Referring to FIG. 10 or 15, one LM guide 5 connects the first swing plate 3r and the ball joint 1Jb. Further, one LM guide 5 can move the holding block 1Bk along the direction in which the operating lever Lc extends. The other LM guide 5 connects the second swing plate 4r and the ball joint 1Jb. Further, the other LM guide 5 can relatively move the holding block 1Bk along the direction in which the operating lever Lc extends.

10 to 15, by connecting the first swing plate 3r and the second swing plate 4r to the holding block 1Bk via the LM guide 5, the operation lever Lc moves in the extending direction. is acceptable. Furthermore, even if the center of rotation (fulcrum) of the operating lever Lc is different from the center of rotation (fulcrum) of the first swing plate 3r and the second swing plate 4r, these displacements can be tolerated.

Referring to FIGS. 10 to 15, the operating device 20 according to the embodiment includes two first motors 3m and a second motor 4m installed on a turntable 6 rotatably connected to a base plate 2Pb, and two first rocking motors 4m and 4m. By connecting a holding block 2Bk, which includes a plate 3r and a second swing plate 4r and is capable of holding the operating lever Lc, to the first swing plate 3r and the second swing plate 4r through ball joints 1Jb, the remote The configuration can be simplified while satisfying the functions of the control device.

(Configuration of holding block)
Next, the configuration of the holding block 2Bk according to the embodiment will be explained. Referring to FIG. 15, the holding block 1Bk has a notch 2k that is partially cut off from the outer periphery. The operating lever Lc can be introduced into the holding block 2Bk from the base end side of the operating lever Lc, which has a small external shape, through the notch 2k.

(Configuration of first motor)
Next, the configuration of the first motor 3m according to the embodiment will be explained. Referring to FIGS. 10 to 15, the flange portion of the first motor 3m is fixed to the upper surface of one swing bracket Br. The base end side of the second rocking plate 4r can be detachably fixed to the servo arm As provided integrally with the output shaft of the first motor 3m (see FIG. 11 or FIG. 14).

Referring to FIGS. 10 to 15, it is preferable that the first motor 3m is a server motor whose output shaft rotation angle can be controlled by electrical signals. It is preferable to use a server motor smaller than the first motor 1m as the first motor 3m. The first motor 3m can be controllably driven by transmitting a control signal from an external transmitter to a receiver (not shown) electrically connected to the first motor 3m. When the first motor 3m is driven, the second rocking plate 4r can be rocked in the x-axis direction. The operating lever Lc can be tilted in the x-axis direction via the holding block 2Bk.

(Configuration of second motor)
Next, the configuration of the second motor 4m according to the embodiment will be explained. Referring to FIGS. 10 to 15, the flange portion of the second motor 4m is fixed to the upper surface of the other swing bracket Br. The base end side of the first swing plate 3r can be detachably fixed to the servo arm As provided integrally with the output shaft of the second motor 4m (see FIG. 13 or 14).

In addition, when FIGS. 10 to 15 are referred to, the first motor 3m and the second motor 4m are the same, but for convenience of explanation, the reference numerals are changed to distinguish them.

Referring to FIGS. 10 to 15, the second motor 4m can be controllably driven by transmitting a control signal from an external transmitter to a receiver (not shown) electrically connected to the second motor 4m. When the second motor 4m is driven, the first rocking plate 3r can be rocked in the y-axis direction. The operating lever Lc can be tilted in the y-axis direction via the holding block 2Bk.

(Turntable configuration)
Next, the configuration of the turntable 6 according to the embodiment will be described. Referring to FIG. 11, the base plate 2Pb has a cylindrical boss 2Bh protruding from the top surface. The turntable 6 is supported by the boss 2Bh. The turntable 6 has a hat-shaped retainer 63 fixed to the bottom surface of the center. The turntable 6 and the retainer 63 can rotate together. A boss 2Bh can be introduced into the inside of the retainer 63, and the retainer 63 is rotatably connected to the boss 2Bh.

Referring to FIG. 11 or 13, the retainer 63 fixes a first timing pulley 61p having a large outer diameter on its outer periphery. A timing pulley 6Bt is wound around a first timing pulley 61p and a second timing pulley 62p (described later) having a small outer diameter.

(Configuration of third motor)
Next, the configuration of the third motor 5m according to the embodiment will be explained. Referring to FIGS. 11 to 13, a motor mounting bracket 5Br is installed on the base plate 2Pb. The third motor 5m is fixed to a motor mounting bracket 5Br. Further, the third motor 5m has a second timing pulley 62p fixed to the output shaft. A timing pulley 6Bt is wound around the second timing pulley 62p and the first timing pulley 61p.

Referring to FIGS. 11 to 13, it is preferable that the third motor 5m is a server motor whose output shaft rotation angle can be controlled by an electric signal. The third motor 5m is the same as the first motor 1m and the second motor 2m, but for convenience of explanation, the symbols have been changed to distinguish them. By driving the third motor 5m, the turntable 6 can be rotated via the winding transmission.

Referring to FIGS. 11 to 13, the third motor 5m can be controllably driven by transmitting a control signal from an external transmitter to a receiver (not shown) electrically connected to the third motor 5m. When the third motor 5m is driven, the turntable 6 can be controlled to rotate freely.

Referring to FIGS. 10 to 15, the operating device 20 has a turntable 6 installed on a base plate 2Pb, and rotates the turntable 6 with a third motor 5m, thereby enabling a turning operation of the operating lever Lc.

(Effect of remote control device)
Next, the operation and effects of the control device 20 will be explained while explaining the operation of the control device 20 according to the embodiment.

Referring to FIGS. 10 to 15, first, the control device 20 is installed in the driver's seat of a heavy machine or the like. The base plate 2Pb is fixed to the driver's seat using bolt members (not shown) fixed around the operating lever Lc.

Next, referring to FIG. 15, the operating lever Lc is introduced into the holding block 2Bk from the base end side of the operating lever Lc through the notch 2k. Next, the operating lever Lc can be held by moving the holding block 2Bk toward the grip Gp of the operating lever Lc. This completes the installation of the control device 20.

Referring to FIGS. 10 to 15, the first motor 3m can be driven from a receiver (not shown) by transmitting a control signal from an external transmitter (not shown). The rotation of the output shaft of the first motor 3m is transmitted to the first swing plate 3r through the path of second swing plate 4r → LM guide 5 → ball joint 1Jb → holding block 1Bk → ball joint 1Jb → LM guide 5. be done. This allows the operating lever Lc to be tilted in the x-axis direction.

Referring to FIGS. 10 to 15, the second motor 4m can be driven from a receiver (not shown) by transmitting a control signal from an external transmitter (not shown). The rotation of the output shaft of the second motor 4m is transmitted to the second swing plate 4r through the path of first swing plate 3r → LM guide 5 → ball joint 1Jb → holding block 1Bk → ball joint 1Jb → LM guide 5. be done. This allows the operating lever Lc to be tilted in the y-axis direction.

Referring to FIGS. 10 to 15, by connecting the holding block 2Bk and the first swing plate 3r with a ball joint 1Jb, the displacement in the direction in which the operating lever Lc extends due to the circular arc movement of the first swing plate 3r can be tolerated with a ball joint of 1 Jb. Thereby, the circular arc motion of the first swing plate 3r can be smoothly converted into a tilting motion of the operating lever Lc in the x-axis direction.

Referring to FIGS. 10 to 15, by connecting the holding block 2Bk and the second swing plate 4r with the ball joint 1Jb, the displacement in the direction in which the operating lever Lc is extended due to the arc movement of the second swing plate 4r can be made with 1Jb of ball joint. Thereby, the arc movement of the second rocking plate 4r can be smoothly converted into a tilting movement of the control lever Lc in the x-axis direction.

Referring to FIGS. 10 to 15, the operating device 20 according to the embodiment includes two first motors 3m and a second motor 4m installed on a base plate 2Pb, two first swing plates 3r and a second swing plate 4r. By connecting a holding block 2Bk capable of holding the operating lever Lc to the first rocking plate 3r and the second rocking plate 4r through ball joints 1Jb, the remote control device can fulfill the functions of a remote control device. The configuration can be made easier.

Referring to FIGS. 10 to 15, the operating device 20 according to the embodiment connects the first swing plate 3r and the second swing plate 4r to the holding block 2Bk via the LM guide 5, so that the operating lever Lc can be allowed to move in the direction in which it extends. Furthermore, even if the center of rotation (fulcrum) of the operating lever Lc is different from the center of rotation (fulcrum) of the first swing plate 3r and the second swing plate 4r, these displacements can be tolerated.

Referring to FIGS. 10 to 15, the operating device 20 according to the embodiment has a turntable 6 installed on the base plate 2Pb, and the turntable 6 is rotated by the third motor 5m, thereby enabling the turning operation of the operating lever Lc. There is.

Referring to FIGS. 10 to 15, the control device 20 according to the embodiment has the special effect of being able to be made smaller compared to the control device 10 according to the embodiment. Note that a turntable and a third motor for rotating the turntable can also be installed in the operating device 10 according to the first embodiment.

[Third embodiment]
(Configuration of remote control device)
Next, the overall configuration of a remote control device according to a third embodiment of the present invention will be described. Note that components denoted by the same reference numerals as those used in the first embodiment have the same functions, so their explanations may be omitted below.

(overall structure)
Referring to FIGS. 16 to 20, a remote control device (hereinafter abbreviated as a control device) 30 according to a third embodiment of the present invention can remotely control a control lever Lc disposed in a driver's seat of heavy machinery or the like. The operating lever Lc can be tilted at least in the x-axis direction or the y-axis direction (see FIG. 16).

Referring to FIGS. 16 to 20, the control device 30 includes a base plate 1Pb and a set of holding blocks 3Bk and 3Bk. The base plate 1Pb can be detachably fixed around the operating lever Lc. The holding block 3Bk can hold the operating lever Lc so as to be freely introduced from the outer circumferential direction.

Referring to FIGS. 16 to 20, the base plate 1Pb includes a first motor 1m and a second motor 2m. The first motor 1m can tilt the operating lever Lc in the x-axis direction. The second motor 2m can tilt the operating lever Lc in the y-axis direction.

Further, referring to FIGS. 16 to 20, the base plate 1Pb includes a first swing plate 1r and a second swing plate 2r. The base end of the first swing plate 1r is rotatably connected to the base plate 1Pb by a hinge member 1h (see FIG. 16 or 17). Thereby, the first swing plate 1r can swing in the x-axis direction.

Referring to FIGS. 16 to 18, the second motor 2m is fixed to the first swing plate 1r. The base end of the second swing plate 2r is directly connected to the output shaft of the second motor 2m. By driving the second motor 2m, the second rocking plate 2r can be rocked in the y-axis direction.

Referring to FIGS. 16 to 19, the control device 30 further includes a universal joint 7. The universal joint 7 connects a first joint member 71 and a second joint member 72 so as to be tiltable in multiple directions. Referring to FIG. 19, the first joint member 71 includes a mounting seat 71b and a fork member 71f. The mounting seat 71b is fixed to the tip end side of the second swing plate 2r. Further, the mounting seat 71b has a center pin 71p protruding from one surface thereof.

Referring to FIG. 16 or 19, one disc-shaped end of the fork member 71f is rotatably connected to the center pin 71p. A plurality of spheres are held between the fork member 71f and the mounting seat 71b. This allows smooth rotation around the axis of the center pin 71p with respect to the mounting seat 71b.

Further, referring to FIG. 16 or FIG. 19, the fork member 71f supports a connecting pin 71s at the other bifurcated end. The connecting pin 71s is arranged in a direction substantially perpendicular to the direction in which the center pin 71p extends.

Referring to FIG. 16 or 19, the second joint member 72 has a quadrangular base portion 72b and a single clevis-shaped arm portion 72a. The second joint member 72 has an arm portion 72a protruding from one surface of the base portion 72b. The arm portion 72a has an insertion hole 72h opened at its distal end side. By introducing the arm portion 72a into the other end of the bifurcated fork member 71f and inserting the connecting pin 71s into the insertion hole 72h, the second joint member 72 can be refractably connected to the fork member 71f. . Note that the base portion 72b can be detachably fixed to a moving block 52, which will be described later.

Referring to FIGS. 16 to 20, the control device 30 further includes a band-shaped rotating arm 3, a link rod 4, and an LM guide 5. The rotating arm 3 has its base end directly connected to the output shaft of the first motor 1m. By driving the first motor 1m, the rotating arm 3 can be rotated on the xy plane (see FIG. 20).

Referring to FIGS. 16 to 18 or 20, the link rod 4 has a pair of spherical slide bearings 4b and 4b at both ends. One spherical slide bearing 4b is connected to the tip of the rotating arm 3. The other spherical sliding bearing 4b is connected to the upper surface of the first rocking plate 1r. In this way, the link rod 4 connects the tip of the rotating arm 3 and the first swing plate 1r.

Referring to FIG. 17 or 18, the LM guide 5 is composed of a straight rail 51 and a moving block 52. The linear rail 51 is fixed to the holding block 3Bk along the direction in which the operating lever Lc extends. In the embodiment, the straight rail 51 extends over a pair of holding blocks 3Bk and 3Bk and is fixed to their outer surfaces. The moving block 52 is slidably connected to the linear rail 51. With respect to the linear rail 51, the moving block 52 is only allowed to move linearly. Furthermore, a base portion 72b of the second joint member 72 is fixed to the moving block 52. That is, the moving block 52 and the second joint member 72 can move together.

Referring to FIGS. 1 to 9, the operating device 10 according to the first embodiment has an LM guide 5 attached to the second rocking plate 2r side, and the LM guide 5 holds the holding block 1Bk provided on the operating lever Lc side with a ball. Connected with joint 1Jb. On the other hand, referring to FIGS. 16 to 20, in the control device 30 according to the third embodiment, the LM guide 5 is attached to the holding block 3Bk provided on the operation lever Lc side, and the LM guide 5 has the second swing plate 2r. They are connected by a universal joint 7.

Referring to FIGS. 16 to 20, the operating device 30 according to the embodiment includes two first motors 1m and a second motor 2m installed on a base plate 1Pb, two first swing plates 1r and a second swing plate 2r. By connecting a holding block 3Bk capable of holding the operating lever Lc to the second rocking plate 2r with a universal joint 7, the configuration can be simplified while satisfying the functions of a remote control device.

(Configuration of holding block)
Next, the configuration of the holding block 3Bk according to the embodiment will be explained. Referring to FIG. 19, the holding block 3Bk has a notch 3k that is partially cut off from the outer periphery. The operating lever Lc can be introduced into the holding block 3Bk from the base end side of the operating lever Lc, which has a small external shape, through the notch 3k. By moving the holding block 3Bk to the grip Gp side of the operating lever Lc, which has a large external shape, with respect to the operating lever Lc, the operating lever Lc can be held without much clearance. It is preferable to prepare a plurality of types of holding blocks so as to match the shape of the corresponding operating lever Lc. For the holding block 3Bk, a one-touch type clamp can be used instead of a screw type.

(Configuration of first motor and second motor)
The configurations of the first motor 1m and the second motor 2m are the same as those in the first embodiment, so a detailed explanation will be omitted. By transmitting a control signal from an external transmitter to a receiver (not shown), the first motor 1m can be driven in a controllable manner. When the first motor 1m is driven, the rotation of the rotating arm 3 fixed to the output shaft of the first motor 1m is transmitted to the first swing plate 1r via the link rod 4. can swing in the x-axis direction.

Further, referring to FIG. 16 or 18, the second motor 2m is controllably driven by transmitting a control signal from an external transmitter to a receiver (not shown) electrically connected to the second motor 2m. can. When the second motor 2m is driven, the second rocking plate 2r can be directly rocked in the y-axis direction.

(Effect of remote control device)
Next, the operation and effects of the control device 30 will be explained while explaining the operation of the control device 30 according to the embodiment.

Referring to FIGS. 16 to 20, first, the control device 20 is installed in the driver's seat of a heavy machine or the like. The base plate 1Pb is fixed to the driver's seat using bolt members (not shown) fixed around the operating lever Lc.

Next, referring to FIG. 19, the operating lever Lc is introduced into the holding block 3Bk from the base end side of the operating lever Lc through the notch 3k. Next, the operating lever Lc can be held by moving the holding block 3Bk toward the grip Gp side of the operating lever Lc.

Next, referring to FIG. 19, a set screw 1Ss with a knob is screwed into a female threaded portion (not shown) formed in the holding block 3Bk, and a pair of holding blocks 3Bk and 3bk are fixed to the operating lever Lc. This completes the installation of the control device 30.

Referring to FIGS. 16 to 20, the first motor 1m can be driven from a receiver (not shown) by transmitting a control signal from an external transmitter (not shown). The rotation of the output shaft of the first motor 1m is as follows: rotating arm 3 → link rod 4 → first swing plate 1r → output shaft of second motor 2m → second swing plate 2r → universal joint 7 → LM guide 5. It is transmitted to the holding block 3Bk via a path. This allows the operating lever Lc to be tilted in the x-axis direction (see FIG. 1).

16 to 18, by connecting the tip of the rotating arm 3 and the link rod 4 with one spherical slide bearing 4b, the circular arc movement of the tip of the rotating arm 3 is transferred to the straight line of the link rod 4. Can be smoothly converted into exercise. Furthermore, by connecting the tip of the first rocking plate 1r and the link rod 4 with the other spherical sliding bearing 4b, the linear movement of the link rod 4 can be smoothly converted into the circular arc movement of the tip of the first rocking plate 1r. Can be converted.

Referring to FIGS. 16 to 20, by connecting the holding block 3Bk and the first swing plate 1r with the universal joint 7 via the second swing plate 2r, the arcuate movement of the first swing plate 1r is controlled. The accompanying displacement in the direction in which the operating lever Lc extends can be tolerated by the universal joint 7. Thereby, the arc movement of the first rocking plate 1r can be smoothly converted into a tilting movement of the control lever Lc in the x-axis direction. More specifically, by connecting the first joint member 71 and the second joint member 72 in a bendable manner, it is possible to eliminate twisting between the first swing plate 1r and the operating lever Lc (see FIG. 19). In this case, the fact that the second joint member 72 and the linear rail 51 are slidably connected is involved.

Referring to FIGS. 16 to 20, the second motor 2m can be driven from a receiver (not shown) by transmitting a control signal from an external transmitter (not shown). The rotation of the output shaft of the second motor 2m is transmitted to the holding block 3Bk via a path from the universal joint 7 to the LM guide 5. This allows the operating lever Lc to be tilted in the y-axis direction (see FIG. 16).

With reference to FIGS. 16 to 20, by connecting the holding block 3Bk and the second swing plate 2r with the universal joint 7, the displacement in the direction in which the operating lever Lc is extended due to the arc movement of the second swing plate 2r can be tolerated by the universal joint 7. Thereby, the arc movement of the second rocking plate 2r can be smoothly converted into a tilting movement of the control lever Lc in the y-axis direction. More specifically, by rotatably connecting the fork member 71f to the mounting seat 71b (see FIG. 19), it is possible to eliminate twisting between the second rocking plate 2r and the operating lever Lc (see FIG. 16). . Further, by connecting the second swing plate 2r and the LM guide 5 with the universal joint 7, displacement in the direction in which the operating lever Lc extends due to the arc movement of the second swing plate 2r can be further tolerated.

Referring to FIGS. 16 to 20, the control device 30 according to the third embodiment includes two first motors 1m and a second motor 2m installed on a base plate 1Pb, two first rocking plates 1r and a second rocking plate 1r. By connecting a holding block 3Bk, which includes a plate 2r and is capable of holding an operating lever Lc, to the second rocking plate 2r with a universal joint 7, the configuration can be simplified while satisfying the functions of a remote control device.

Referring to FIGS. 16 to 20, the control device 30 according to the third embodiment has the special advantage of being easier to assemble compared to the control device 10 according to the first embodiment. Further, the control device 30 according to the third embodiment uses an inexpensive universal joint that uses a part of a commercially available universal wheel, compared to the control device 10 according to the first embodiment, which uses an expensive ball joint that is a precision component. 7 is used, there is a special effect that it can contribute to reducing the cost of the control device 30.

[Fourth embodiment]
(Configuration of remote control device)
Next, the configuration of a remote control device according to a fourth embodiment of the present invention will be described. Note that components denoted by the same reference numerals as those used in the second embodiment have the same functions, so their explanations may be omitted below.

Referring to FIGS. 21 to 23, a remote control device (hereinafter abbreviated as a control device) 40 according to a fourth embodiment of the present invention can remotely control a control lever Lc disposed in a driver's seat of heavy machinery or the like. The operating lever Lc can be tilted at least in the x-axis direction or the y-axis direction (see FIG. 21).

Referring to FIGS. 21 to 23, the control device 40 includes a base plate 2Pb and a holding block 3Bk. The base plate 2Pb can be detachably fixed around the operating lever Lc. The holding block 3Bk can hold the operating lever Lc so as to be freely introduced from the outer circumferential direction.

Referring to FIGS. 21 to 23, the base plate 2Pb includes a first motor 3m and a second motor 4m. The first motor 3m can tilt the operating lever Lc in the x-axis direction. The second motor 4m can tilt the operating lever Lc in the y-axis direction.

Further, referring to FIGS. 21 to 23, the base plate 2Pb includes a first swing plate 3r and a second swing plate 4r.

Referring to FIGS. 21 to 23, the control device 20 further includes two LM guides 5, a disc-shaped turntable 6, and a third motor 5m. The turntable 6 has a first swing plate 3r and a second swing plate 4r installed on the top surface. Further, the turntable 6 is rotatably connected to the base plate 2Pb. The third motor 5m can rotate the turntable 6.

Referring to FIGS. 21 to 23, the base end of the first swing plate 3r is rotatably connected to the turntable 6 via the swing bracket Br. The base end of the second swing plate 4r is rotatably connected to the turntable 6 via the swing bracket Br. Note that although the first rocking plate 3r and the second rocking plate 4r are the same, they are distinguished by different symbols for convenience of explanation.

Referring to FIGS. 21 to 23, one swing bracket Br and the other swing bracket Br are arranged substantially orthogonally. One swing bracket Br fixes the second motor 4m. The output shaft of the second motor 4m is directly connected to the base end of the first swing plate 3r. When the second motor 4m is driven, the first rocking plate 3r can be rocked in the y-axis direction.

On the other hand, referring to FIGS. 21 to 23, the other swing bracket Br fixes the first motor 3m. The output shaft of the first motor 3m is directly connected to the base end of the second swing plate 4r. When the first motor 3m is driven, the second rocking plate 4r can be rocked in the x-axis direction.

Referring to FIGS. 21 to 23, the first swing plate 3r and the second swing plate 4r share a holding block 3Bk with the LM guide 5 composed of a straight rail 51 and a moving block 52 via a universal joint 7. are doing. Thereby, when the first motor 3m is driven, the second swing plate 4r can tilt the operating lever Lc in the x-axis direction via the holding block 3Bk.

On the other hand, referring to FIGS. 21 to 23, when the second motor 4m is driven, the first swing plate 3r can tilt the operating lever Lc in the y-axis direction via the holding block 3Bk.

Referring to FIG. 22 or 23, the LM guide 5 is composed of a straight rail 51 and a moving block 52. One linear rail 51 is fixed to the holding block 3Bk along the direction in which the operating lever Lc extends. In the embodiment, one straight rail 51 extends over a pair of holding blocks 3Bk and 3Bk and is fixed to their outer surfaces.

Referring to FIG. 22 or 23, the other linear rail 51 is fixed to the holding block 3Bk along the direction in which the operating lever Lc extends. In the embodiment, the other straight rail 51 extends over a pair of holding blocks 3Bk and 3Bk and is fixed to their outer surfaces. The moving block 52 is slidably connected to the linear rail 51. With respect to the linear rail 51, the moving block 52 is only allowed to move linearly.

Referring to FIGS. 21 to 23, one moving block 52 fixes the second joint member 72. As shown in FIG. The first swing plate 3r has a first joint member 71 fixed to its intermediate portion. The fork member 71f and the arm portion 72a are bendably connected.

Similarly, referring to FIGS. 21 to 23, the other moving block 52 fixes the second joint member 72. As shown in FIGS. The second swing plate 4r has a first joint member 71 fixed to its intermediate portion. The fork member 71f and the arm portion 72a are bendably connected.

21 to 23, by connecting the first swing plate 3r and the second swing plate 4r to the holding block 3Bk via the LM guide 5, the operating lever Lc is relatively moved in the extending direction. Can tolerate exercise. Also, by connecting the first swing plate 3r and the second swing plate 4r to the holding block 3Bk via the universal joint 7, the rotation center (fulcrum) of the operating lever Lc and the first swing plate 3r and the second swing plate 4r are connected to each other. Even if the rotation centers (fulcrums) of the second rocking plate 4r are different, these displacements can be tolerated.

Referring to FIGS. 21 to 23, the operating device 40 according to the embodiment includes two first motors 3m and a second motor 4m installed on a turntable 6 rotatably connected to a base plate 2Pb, and two first swinging motors 4m and 4m. By connecting a holding block 3Bk, which includes a plate 3r and a second swing plate 4r and is capable of holding the operating lever Lc, to the first swing plate 3r and the second swing plate 4r using a universal joint 7, a remote The configuration can be simplified while satisfying the functions of the control device.

(Configuration of holding block)
Next, the configuration of the holding block 2Bk according to the embodiment will be explained. Referring to FIG. 23, the holding block 3Bk has a notch 3k that is partially cut off from the outer periphery. The operating lever Lc can be introduced into the holding block 3Bk from the base end side of the operating lever Lc, which has a small external shape, through the notch 3k. By moving the holding block 3Bk to the grip Gp side of the operating lever Lc, which has a large external shape, with respect to the operating lever Lc, the operating lever Lc can be held without much clearance. It is preferable to prepare a plurality of types of holding blocks so as to match the shape of the corresponding operating lever Lc. For the holding block 3Bk, a one-touch type clamp can be used instead of a screw type.

(Configuration of first motor and second motor)
The configurations of the first motor 3m and the second motor 4m are the same as in the second embodiment, so a detailed explanation will be omitted, but each motor is a small server whose output shaft rotation angle can be controlled by electrical signals. It uses a motor.

(Configuration of turntable and third motor)
Referring to FIGS. 21 to 23, the configurations of the turntable 6 and the third motor 5m are the same as those in the second embodiment, so a detailed explanation will be omitted, but the turntable 6 is rotatable with the base plate 2Pb. It is connected. Further, the third motor 5m can rotate the turntable 6. The operating device 40 has the turntable 6 installed on the base plate 2Pb and rotates the turntable 6 with the third motor 5m, thereby enabling the turning operation of the operating lever Lc.

(Effect of remote control device)
Next, the operation and effects of the control device 40 will be explained while explaining the operation of the control device 40 according to the embodiment.

Referring to FIGS. 21 to 23, first, the control device 40 is installed in the driver's seat of a heavy machine or the like. The base plate 2Pb is fixed to the driver's seat using bolt members (not shown) fixed around the operating lever Lc.

Next, referring to FIG. 23, the operating lever Lc is introduced into the holding block 3Bk from the base end side of the operating lever Lc through the notch 3k. Next, the operating lever Lc can be held by moving the holding block 3Bk toward the grip Gp side of the operating lever Lc. This completes the installation of the control device 10.

Referring to FIGS. 21 to 23, the first motor 3m can be driven from a receiver (not shown) by transmitting a control signal from an external transmitter (not shown). The rotation of the output shaft of the first motor 3m is transmitted to the first swing plate 3r through the path of second swing plate 4r → universal joint 7 → LM guide 5 → holding block 3Bk → LM guide 5 → universal joint 7. be done. This allows the operating lever Lc to be tilted in the x-axis direction.

Referring to FIGS. 21 to 23, the second motor 4m can be driven from a receiver (not shown) by transmitting a control signal from an external transmitter (not shown). The rotation of the output shaft of the second motor 4m is transmitted to the second swing plate 4r through the path of first swing plate 3r → universal joint 7 → LM guide 5 → holding block 3Bk → LM guide 5 → universal joint 7. be done. This allows the operating lever Lc to be tilted in the y-axis direction.

Referring to FIGS. 21 to 23, by connecting the holding block 3Bk and the first swing plate 3r with the universal joint 7, the displacement in the direction in which the operating lever Lc is extended due to the arc movement of the first swing plate 3r can be tolerated by the universal joint 7. Thereby, the circular arc motion of the first swing plate 3r can be smoothly converted into a tilting motion of the operating lever Lc in the x-axis direction.

Referring to FIGS. 10 to 15, by connecting the holding block 2Bk and the second swing plate 4r with the universal joint 7, the displacement in the direction in which the operating lever Lc is extended due to the arc movement of the second swing plate 4r can be tolerated by the universal joint 7. Thereby, the arc movement of the second rocking plate 4r can be smoothly converted into a tilting movement of the control lever Lc in the x-axis direction.

Referring to FIGS. 21 to 23, the operating device 40 according to the embodiment includes two first motors 3m and a second motor 4m installed on a base plate 2Pb, two first swing plates 3r and a second swing plate 4r. By connecting a holding block 3Bk capable of holding the operating lever Lc to the first rocking plate 3r and the second rocking plate 4r through the respective universal joints 7, the function of the remote control device can be fulfilled. The configuration can be made easier.

Referring to FIGS. 21 to 23, the operating device 0 according to the embodiment connects the first swing plate 3r and the second swing plate 4r to the holding block 2Bk via the LM guide 5, so that the operating lever Lc can be allowed to move in the direction in which it extends. Furthermore, even if the center of rotation (fulcrum) of the operating lever Lc is different from the center of rotation (fulcrum) of the first swing plate 3r and the second swing plate 4r, these displacements can be tolerated.

Referring to FIGS. 21 to 23, the operating device 40 according to the embodiment has the turntable 6 installed on the base plate 2Pb and rotates the turntable 6 with the third motor 5m, thereby enabling the turning operation of the operating lever Lc. There is.

Referring to FIGS. 21 to 23, the control device 40 according to the embodiment has the special effect of being able to be made smaller compared to the control device 30 according to the embodiment. Note that a turntable and a third motor for rotating the turntable can also be installed in the operating device 10 according to the third embodiment.

Referring to FIGS. 21 to 23, the control device 40 according to the fourth embodiment has the special advantage of being easier to assemble compared to the control device 10 according to the second embodiment. Further, the control device 40 according to the fourth embodiment uses an inexpensive universal joint that uses a part of a commercially available universal wheel, compared to the control device 20 according to the second embodiment, which uses an expensive ball joint that is a precision component. 7 is used, there is a special effect that it can contribute to reducing the cost of the control device 40.

1Bk Holding block 1Jb Ball joint 1m 1st motor 1r 1st rocking plate 2m 2nd motor 2r 2nd rocking plate 10 Control device (remote control device)
Lc control lever

Claims (13)

A remote control device that operates from a remote location an operating lever that can be tilted at least in the x-axis direction or the y-axis direction,
a base plate that can be detachably fixed around the operating lever;
a holding block capable of holding the operating lever so as to be freely introduced from the outer circumferential direction;
The base plate is
a first motor that tilts the operating lever in the x-axis direction;
a second motor that tilts the operating lever in the y-axis direction;
a first rocking plate that is swingable in the x-axis direction;
a second rocking plate that is swingable in the y-axis direction;
In the remote control device, the holding block has a ball joint connected to one or both of the first swing plate and the second swing plate. The ball joint is
A ball stud with a spherical part formed in the head,
a socket rotatably connected to the ball portion;
2. The remote control device according to claim 1, wherein the ball stud can tilt in multiple directions with respect to the socket and is connected to the socket so as to be difficult to separate. The first rocking plate has a proximal end rotatably connected to the base plate,
The second rocking plate has a base end rotatably connected to the first rocking plate,
The remote control device according to claim 1 or 2, wherein the ball joint bendably connects the holding block and the second rocking plate. a rotating arm whose base end is directly connected to the output shaft of the first motor;
a link rod having spherical sliding bearings at both ends and connecting the tip of the rotating arm and the first rocking plate;
4. The remote control according to claim 3, further comprising a linear motion guide that connects the second rocking plate and the ball joint and can relatively move the holding block along the direction in which the operating lever extends. Control device. 2. The remote control device according to claim 1, wherein the first swing plate and the second swing plate share the holding block at their tip ends via the ball joint. The present invention further comprises a linear motion guide that connects the first rocking plate and the second rocking plate to the ball joint and can relatively move the holding block along the direction in which the operating lever extends. The remote control device according to item 5. a turntable having the first rocking plate and the second rocking plate installed on the upper surface and rotatably connected to the base plate;
The remote control device according to claim 6, further comprising a third motor that rotates the turntable. A remote control device that operates from a remote location an operating lever that can be tilted at least in the x-axis direction or the y-axis direction,
a base plate that can be detachably fixed around the operating lever;
a holding block capable of holding the operating lever so as to be freely introduced from the outer circumferential direction;
The base plate is
a first motor that tilts the operating lever in the x-axis direction;
a second motor that tilts the operating lever in the y-axis direction;
a first rocking plate that is swingable in the x-axis direction;
a second rocking plate that is swingable in the y-axis direction;
In the remote control device, the holding block has a universal joint connected to one or both of the first rocking plate and the second rocking plate. The universal joint is
a mounting seat with a center pin protruding from one surface, one end rotatably connected to the center pin, and the other end connecting the connecting pin in a direction substantially perpendicular to the direction in which the center pin extends; a first coupling member having a supported fork member;
a second joint member, one end of which is bendably connected to the connecting pin;
The remote control device according to claim 8, wherein the second joint member is connected to the mounting seat so as to be tiltable in multiple directions. a straight rail fixed to the holding block along the direction in which the operating lever extends;
The remote control device according to claim 9, further comprising a moving block slidably connected to the linear rail and to which the other end of the second joint member is fixed. The first rocking plate has a proximal end rotatably connected to the base plate,
The second rocking plate has a base end rotatably connected to the first rocking plate,
The remote control device according to claim 8 or 9, wherein the universal joint bendably connects the holding block and the second rocking plate. 10. The first oscillating plate and the second oscillating plate share the holding block with a linear motion guide formed by the linear rail and the moving block via the universal joint. Remote control device as described. a turntable having the first rocking plate and the second rocking plate installed on the upper surface and rotatably connected to the base plate;
The remote control device according to claim 12, further comprising a third motor that rotates the turntable.

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